6 papers
Chat-Scene++: Exploiting Context-Rich Object Identification for 3D LLM
Haifeng Huang, Yilun Chen, Zehan Wang +2
Recent advancements in multi-modal large language models (MLLMs) have shown strong potential for 3D scene understanding. However, existing methods struggle with fine-grained object…
KiToke: Kernel-based Interval-aware Token Compression for Video Large Language Models
Haifeng Huang, Yang Li
Video Large Language Models (Video LLMs) achieve strong performance on video understanding tasks but suffer from high inference costs due to the large number of visual tokens. We p…
MMScan: A Multi-Modal 3D Scene Dataset with Hierarchical Grounded Language Annotations
Ruiyuan Lyu, Jingli Lin, Tai Wang +8
With the emergence of LLMs and their integration with other data modalities, multi-modal 3D perception attracts more attention due to its connectivity to the physical world and mak…
RoboGround: Robotic Manipulation with Grounded Vision-Language Priors
Haifeng Huang, Xinyi Chen, Yilun Chen +6
Recent advancements in robotic manipulation have highlighted the potential of intermediate representations for improving policy generalization. In this work, we explore grounding m…
Robin3D: Improving 3D Large Language Model via Robust Instruction Tuning
Weitai Kang, Haifeng Huang, Yuzhang Shang +2
Recent advancements in 3D Large Language Models (3DLLMs) have highlighted their potential in building general-purpose agents in the 3D real world, yet challenges remain due to the…
Grounded 3D-LLM with Referent Tokens
Yilun Chen, Shuai Yang, Haifeng Huang +5
Prior studies on 3D scene understanding have primarily developed specialized models for specific tasks or required task-specific fine-tuning. In this study, we propose Grounded 3D-…